EP4005519A4 - Magnetic drive system and microrobot control method using same - Google Patents

Magnetic drive system and microrobot control method using same Download PDF

Info

Publication number
EP4005519A4
EP4005519A4 EP20848499.8A EP20848499A EP4005519A4 EP 4005519 A4 EP4005519 A4 EP 4005519A4 EP 20848499 A EP20848499 A EP 20848499A EP 4005519 A4 EP4005519 A4 EP 4005519A4
Authority
EP
European Patent Office
Prior art keywords
same
control method
drive system
magnetic drive
microrobot control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20848499.8A
Other languages
German (de)
French (fr)
Other versions
EP4005519A1 (en
Inventor
Gunhee Jang
Wonseo LEE
Eunsoo Jung
Nahyun Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry University Cooperation Foundation IUCF HYU
Original Assignee
Industry University Cooperation Foundation IUCF HYU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020190090842A external-priority patent/KR102289065B1/en
Priority claimed from KR1020200082227A external-priority patent/KR102421465B1/en
Application filed by Industry University Cooperation Foundation IUCF HYU filed Critical Industry University Cooperation Foundation IUCF HYU
Publication of EP4005519A1 publication Critical patent/EP4005519A1/en
Publication of EP4005519A4 publication Critical patent/EP4005519A4/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/18—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with coil systems moving upon intermittent or reversed energisation thereof by interaction with a fixed field system, e.g. permanent magnets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00778—Operations on blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127—Magnetic means; Magnetic markers
EP20848499.8A 2019-07-26 2020-07-17 Magnetic drive system and microrobot control method using same Pending EP4005519A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
KR1020190090842A KR102289065B1 (en) 2019-07-26 2019-07-26 Magnetic navigation system and method for controlling micro robot using the system
KR1020200082227A KR102421465B1 (en) 2020-07-03 2020-07-03 Magnetic navigation system
PCT/KR2020/009482 WO2021020784A1 (en) 2019-07-26 2020-07-17 Magnetic drive system and microrobot control method using same

Publications (2)

Publication Number Publication Date
EP4005519A1 EP4005519A1 (en) 2022-06-01
EP4005519A4 true EP4005519A4 (en) 2023-08-23

Family

ID=74228655

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20848499.8A Pending EP4005519A4 (en) 2019-07-26 2020-07-17 Magnetic drive system and microrobot control method using same

Country Status (4)

Country Link
US (1) US20220249186A1 (en)
EP (1) EP4005519A4 (en)
CN (1) CN114222651A (en)
WO (1) WO2021020784A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112959311B (en) * 2021-02-24 2023-11-07 哈尔滨工业大学 High-frequency strong magnetic field generating device based on multistage electromagnet and magnetic field control method
CN115779244A (en) * 2022-12-05 2023-03-14 贵州医科大学附属医院 Accurate medication method of magnetic capsules

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6148823A (en) * 1999-03-17 2000-11-21 Stereotaxis, Inc. Method of and system for controlling magnetic elements in the body using a gapped toroid magnet
US20160262841A1 (en) * 2015-03-12 2016-09-15 Industry Foundation Of Chonnam National University Electromagnetic actuating device including position-adjustable coil
US20180084976A1 (en) * 2016-09-23 2018-03-29 Ankon Medical Technologies (Shanghai),LTD. SYSTEM and METHOD FOR USING A CAPSULE DEVICE

Family Cites Families (15)

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JP2003052676A (en) * 2001-08-08 2003-02-25 Hitachi Medical Corp Movable x-ray apparatus
US6789942B2 (en) * 2002-09-12 2004-09-14 Ge Medical Systems Global Technology Company, Llc C-arm x-ray apparatus with mechanically adjustable brake
JP4542326B2 (en) * 2003-09-30 2010-09-15 オリンパス株式会社 Capsule type medical device guidance system
ES2388029B1 (en) * 2009-05-22 2013-08-13 Universitat Politècnica De Catalunya ROBOTIC SYSTEM FOR LAPAROSCOPIC SURGERY.
DE102009041172B4 (en) * 2009-09-11 2018-03-29 Siemens Healthcare Gmbh Device for flexible positioning of radiation source and radiation detector for medical imaging
IT1399603B1 (en) * 2010-04-26 2013-04-26 Scuola Superiore Di Studi Universitari E Di Perfez ROBOTIC SYSTEM FOR MINIMUM INVASIVE SURGERY INTERVENTIONS
WO2012021459A1 (en) * 2010-08-08 2012-02-16 Accuray, Inc. Radiation treatment delivery system with outwardly movable radiation treatment head extending from ring gantry
DE102011006122A1 (en) * 2011-03-25 2012-09-27 Siemens Aktiengesellschaft Medical X-ray apparatus has C-bow-shaped support device comprising partial arms formed as robot arm by two joints
CN103222842B (en) * 2013-04-18 2015-09-09 安翰光电技术（武汉）有限公司 A kind of device and method controlling capsule endoscope and move at human body alimentary canal
US9737371B2 (en) * 2014-09-30 2017-08-22 Auris Surgical Robotics, Inc. Configurable robotic surgical system with virtual rail and flexible endoscope
CN204909474U (en) * 2015-07-29 2015-12-30 上海西门子医疗器械有限公司 Portable X ray image equipment
CN205019080U (en) * 2015-09-11 2016-02-10 李艾儒 Detection equipment of medical science inspection usefulness
KR101740553B1 (en) * 2016-03-14 2017-05-26 재단법인대구경북과학기술원 Magnetic field precise control system with x-ray apparatus
US10517553B2 (en) * 2017-03-29 2019-12-31 General Electric Company C-arm imaging system with multiple automated independent rotational axes
CN108175510A (en) * 2018-01-19 2018-06-19 上海联影医疗科技有限公司 Medical robot and medical system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6148823A (en) * 1999-03-17 2000-11-21 Stereotaxis, Inc. Method of and system for controlling magnetic elements in the body using a gapped toroid magnet
US20160262841A1 (en) * 2015-03-12 2016-09-15 Industry Foundation Of Chonnam National University Electromagnetic actuating device including position-adjustable coil
US20180084976A1 (en) * 2016-09-23 2018-03-29 Ankon Medical Technologies (Shanghai),LTD. SYSTEM and METHOD FOR USING A CAPSULE DEVICE

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021020784A1 *

Also Published As

Publication number Publication date
CN114222651A (en) 2022-03-22
EP4005519A1 (en) 2022-06-01
WO2021020784A1 (en) 2021-02-04
US20220249186A1 (en) 2022-08-11

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